A two-shift-one-rotation three-degree-of-freedom fully decoupled spatial parallel mechanism
A completely decoupling and degree of freedom technology, applied in the field of robotics, can solve the problems of scarce mechanisms and poor mechanism decoupling, and achieve the effects of reducing load, good mobility, and reducing manufacturing costs
Inactive Publication Date: 2016-01-27
YANSHAN UNIV
View PDF8 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Although the mechanism of the above-mentioned invention mechanism can realize two shifts and one rotation movement, such mechanisms are very rare, and the decoupling of most mechanisms has not been solved well.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0017] exist figure 1 In the schematic diagram of a two-moving-one-rotating three-degree-of-freedom complete decoupling space parallel mechanism shown, the fixed platform 11 is a rectangular structure, and right-angle slide rails 10 are arranged on the adjacent two sides of the fixed platform, and the center line of the right-angle slide rail is in line with the fixed The bottom surface of the platform is parallel, and the moving platform 9 is a triangular structure; one end of the first connecting rod 3 in branch one 1 is connected to the fixed platform through the moving pair 2, and the other end of the first connecting rod is connected to the second connecting rod 5 through the rotating pair 4 The other end of the second connecting rod is connected with one end of the third connecting rod 7 through the rotating joint 6, and the other end of the third connecting rod is connected with the moving platform through the rotating joint 8; the first branch in the second branch 12 C...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a two-moving one-rotation three-freedom complete decoupling space parallel connection mechanism, which comprises a fixed platform, a movable platform and three branches, wherein the three branches are connected with the fixed platform and the movable platform, the fixed platform is a rectangular bottom surface, two sides of the bottom surface of the fixed platform are provided with slide rails, the center line of each slide rail is parallel to the bottom surface of the fixed platform, the movable platform is of a triangular structure, the first branch consists of one moving pair, three rotating pairs and three connecting rods connected with the moving pair and the three rotating pairs, the second branch consists of four rotating pairs and three connecting rods connected with the four rotating pairs, and the third branch consists of one moving pair, four rotating pairs and four connecting rods connected with the moving pair and the four rotating pairs. The two-moving one-rotation three-freedom complete decoupling space parallel connection mechanism has the advantages that the structure is simple, the manufacturing cost is low, the two-moving effect of the movable platform in the direction being parallel to the fixed platform and the one-rotating effect around the axial line parallel to the fixed platform can be realized, each movement is completely decoupled, the control is easy, and the carrying force is strong.
Description
technical field [0001] The invention belongs to the field of robots, in particular to a space parallel mechanism. Background technique [0002] The parallel mechanism has the advantages of large bearing capacity, high stiffness, fast motion speed, small cumulative error, and good dynamic performance, so it has been widely used in motion simulators, force sensors, satellite antennas, medical devices, and food packaging. [0003] Due to the limitation of structure, the problem of strong kinematic coupling of parallel mechanism has not been solved well. The existence of strong coupling in parallel mechanisms causes many problems in mechanism design, calculation analysis and motion control. Therefore, in order to simplify the control process of parallel mechanisms, improving the decoupling of parallel mechanisms has become a hot issue in the field of mechanism research. [0004] In the research of three-degree-of-freedom parallel mechanism, some progress has been made in the d...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/08
Inventor 曾达幸苏永林胡志涛常威张超
Owner YANSHAN UNIV